Ultrasonic robotic tool actuation

Abstract

Described herein include various embodiments of a tool assembly for performing endoscopic surgery that can be used manually and / or with a robotic surgical system. The tool assembly can include a shaft assembly that extends from a housing of the tool assembly. A distal end of the shaft can include an end effector that includes a clamp arm pivotally coupled to a blade for cutting and / or sealing tissue. Pivoting of the clamp arm between the open and closed configurations can be caused by movement of a yoke that is slidably disposed within the housing of the tool assembly. For example, the yoke can be caused to move by one or more outputs (e.g., a manual output, a rotary output, and / or a linear mechanical output). Furthermore, some tool assembly embodiments can include a biasing system that biases the yoke such that the clamp arm is in the open configuration. In some embodiments, the tool assembly can be configured for tissue spread dissection using the clamp arm and blade.

Description

FIELD OF THE INVENTION[0001]The present disclosure relates generally to methods, systems, and devices for controlling the pivoting of a clamp arm of an end effector of a surgical tool.BACKGROUND OF THE INVENTION[0002]Minimally invasive surgical (MIS) instruments are often preferred over traditional open surgical devices due to the reduced post-operative recovery time and minimal scarring. Laparoscopic surgery is one type of MIS procedure in which one or more small incisions are formed in the abdomen and a trocar is inserted through the incision to form a pathway that provides access to the abdominal cavity. The trocar is used to introduce various instruments and tools into the abdominal cavity, as well as to provide insufflation to elevate the abdominal wall above the organs. The instruments and tools can be used to engage and / or treat tissue in a number of ways to achieve a diagnostic or therapeutic effect. Endoscopic surgery is another type of MIS procedure in which elongate flexi...

AI Technical Summary

Benefits of technology

[0009]Surgical methods are also provided, and in one embodiment the method includes actuating a motor on a driver tool of a surgical robot to cause the motor to apply a force to an actuator on a surgical tool. Movement of the actuator can cause a yoke disposed within a housing of the surgical tool to translate linearly about a shaft assembly extending through the housing. Translation of the yoke can cause a clamp arm on an end effector of the surgical tool to move from an open position to a closed position to thereby engage tissue between the clamp arm and a blade.

Problems solved by technology

Rotation of the first actuator can cause a lead screw disposed within the housing to rotate, and rotation of the lead screw can cause longitudinal translation of the yoke.

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